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Theory Manual Version 3.6
 Subsubsection 7.9.4.3: Reaction Forces from Dampers Up Subsection 7.9.4: Joint Reaction Forces and Moments Subsubsection 7.9.4.5: Summary of Reaction Forces and Moment in Joints 

7.9.4.4 Reaction Moments from Torsional Dampers

The reaction moment arising from a torsional damper is where is the angular velocity of body relative to body , and is the projection used in Section 7.9.4.1↑. In particular, is used for joints that cannot undergo relative rotations along any direction, such as prismatic joints; is used for joints that can rotate freely along a single axis, such as revolute, cylindrical and planar joints; in addition, for spherical joints. The linearization of is where with and where Combining these results now produces
 Subsubsection 7.9.4.3: Reaction Forces from Dampers Up Subsection 7.9.4: Joint Reaction Forces and Moments Subsubsection 7.9.4.5: Summary of Reaction Forces and Moment in Joints